module Syskit::ComBus

Module that represents the communication busses in the task models. It defines the methods that are available on task instances. For methods that are added to the task models, see ComBus::ClassExtension

Public Instance Methods

attach(task) click to toggle source

Attaches the given task to the communication bus

# File lib/syskit/data_service.rb, line 185
def attach(task)
    model.each_com_bus_driver_service do |combus_srv|
        combus_m = combus_srv.model

        # Do we have a device for this bus ?
        next if !(combus = find_device_attached_to(combus_srv))
        task.each_master_device do |dev|
            next if !dev.attached_to?(combus)
            client_in_srv  = dev.combus_client_in_srv
            client_out_srv = dev.combus_client_out_srv

            if !combus_m.lazy_dispatch?
                if !(bus_srv = find_data_service(dev.name))
                    raise ArgumentError, "combus task #{self} was expected to have a service named #{dev.name} to connect to the device of the same name, but has none"
                end
            else
                bus_srv = combus.require_dynamic_service_for_device(self, dev)
            end

            if dev.client_to_bus?
                client_out_srv.bind(task).connect_to bus_srv
            end
            if dev.bus_to_client?
                bus_srv.connect_to client_in_srv.bind(task)
            end
        end
    end
end

each_attached_device() { |dev| ... } click to toggle source

Enumerates all the devices that are attached to this communication bus for which a corresponding {Syskit::Component} instance has been attached to self using {attach}

@yieldparam device [DeviceInstance] a device that is using self as

a communication bus

@see #each_declared_attached_device

# File lib/syskit/data_service.rb, line 175
def each_attached_device
    return enum_for(:each_attached_device) if !block_given?
    each_declared_attached_device do |dev|
        if find_data_service(dev.name)
            yield(dev)
        end
    end
end

each_com_bus_device() { |device| ... } click to toggle source

Enumerates the communication busses this task is a driver for

@yieldparam [Robot::ComBus] the communication bus device @yieldreturn [void] @return [void]

# File lib/syskit/data_service.rb, line 144
def each_com_bus_device
    return enum_for(:each_com_bus_device) if !block_given?
    each_master_device do |device|
        yield(device) if device.kind_of?(Robot::ComBus)
    end
end

each_declared_attached_device() { |dev| ... } click to toggle source

Enumerates all the devices that are attached to the underlying communication busses, regardless of whether a corresponding {Syskit::Component} instance has been associated with self using {attach}

@yieldparam device [DeviceInstance] a device that is using self as

a communication bus

@see #each_attached_device

# File lib/syskit/data_service.rb, line 159
def each_declared_attached_device
    return enum_for(:each_declared_attached_device) if !block_given?
    each_com_bus_device do |combus|
        combus.each_attached_device do |dev|
            yield(dev)
        end
    end
end